/cartpole_trajectory_planner

Primary LanguageMATLAB

Cartpole Trajectory planner

Overview

A Comparison of trajectory planners, control techniques, and problem formulations for the cartpole system (and other dynamical systems in future)

Completed Methods

  • cart-pole_ddp: Differential Dynamic Programming (DDP)
  • cart-pole_tpbvp: Optimal Control via solving the Two Point Boundary Value Problem of Linear-Quadratic Hamiltonian

Planned Methods

  • Optimal Control from Direct Collocation Methods
  • Optimal Control from multiple-shooting methods problem
  • Stochastic DDP
  • MPPI
  • Reinforcement Learning